CN109732603A - Method for controlling robot based on the fusion of multi-source heterogeneous information - Google Patents
Method for controlling robot based on the fusion of multi-source heterogeneous information Download PDFInfo
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Abstract
The invention discloses a kind of method for controlling robot based on the fusion of multi-source heterogeneous information, comprising the following steps: S1: acquisition information acquires information data by awareness apparatus and means；S2: information fusion carries out signal detection to above- mentioned information data, object estimation, battle field situation, influences to estimate and recognize five fusion ranks of refining；S3: data management, including support database and amalgamation database；S4: information fusion results are used for human-computer interaction, decision service and application service by converged services.The present invention optimizes the information process in control mode, the information sources such as MES, ERP, SCADA are added in information fusion model, refinement information fusion process, information source is refined to obtain comprehensively and effectively information with 5 grades of information fusion technologies, equipment is instructed more accurately to complete operation, by historical data comparative analysis, optimal control process, it improves production efficiency and product quality, reduction in the numbers of seconds.
Description
Technical field
The invention belongs to information fusion technology fields, and in particular to a kind of machinery based on the fusion of multi-source heterogeneous information is manual
Method processed.
Background technique
Existing information amalgamation mode mainly passes through execution information and acquisition sensor letter in acquisition fixed routine control
Breath carries out information fusion, corrects operating status, the intelligence of single equipment has been had reached, also due to the data knot of each system
Structure is different, generates mistake in extraction, use, analytic process, and data interaction can not be carried out with other information system and is merged point
Analysis, such as according to operation historical record Optimizing Process Parameters and design scheme；Workshop logistics information is obtained, when judging that material is sent to
Between；Defect ware database in quality control system is compared, automatic identification defect ware, there are also one with intelligent plant truly
Set a distance.
Existing information fusion technology the disadvantage is that: multi-source heterogeneous information can not be handled, can not be with other information system
System carries out data interaction, causes production efficiency low, levels of audit quality is uneven, causes the unnecessary wasting of resources.
Summary of the invention
The purpose of the present invention is to provide a kind of method for controlling robot based on the fusion of multi-source heterogeneous information, on solving
State the problem of proposing in background technique.
To achieve the above object, the invention provides the following technical scheme: a kind of machinery based on the fusion of multi-source heterogeneous information
Hand control method, comprising the following steps:
S1: acquisition information acquires information data by awareness apparatus and means；
S2: information fusion carries out signal detection to above- mentioned information data, object estimation, battle field situation, influences to estimate and recognize essence
Five fusion ranks are refined, the information fusion between different stage realizes function support by information exchange, in which:
Signal detection and object estimation are merged for the information of single object, generate the attribute and state estimation of single object；
Battle field situation is merged for the information of multiple objects, generates the relationship between multiple objects；
Process refining and cognition refining embody the assessment to fusion efficiency at different levels, generate the optimal control to fusion process and people
Optimal control based on application demand to cognitive process；
S3: data management, including support database and amalgamation database, support that database mainly includes that fusion process at different levels are related to
Obj State and property parameters association and judge thresholding, and with situation, influence related data, amalgamation database is main
Priori case for storing the access of significant fusion results, as subsequent fusion and assessment；
S4: information fusion results are used for human-computer interaction, decision service and application service by converged services；Human-computer interaction service ginseng
The technological means merged with leading information, the cognition refining of information fusion is main to be carried out by human-computer interaction, such as to administrator
Member's output warning message；Decision service is according to realization fusion application demand, the service that Added Management personnel judge and assess；
Application service indicates that fusion product provides all kinds of services for meeting application demand, including Warning Service and object control service.
Preferably, awareness apparatus and means include the related letter of monitoring sensor, control program, MES, ERP, SCADA in S1
Breath.
Preferably, the input of signal detection is the raw measured signal of multiple sensor acquisitions, and output is the letter detected
Number, signal detection mainly include space-time uniformity, error compensation, signal association and signal fused.
Preferably, the input of object estimation is the data of various kinds of sensors, MES, ERP, SCADA, supports database data
Output with amalgamation database data, object estimation is Obj State and its Accuracy extimate and object properties and its credible journey
Degree estimation, input of the output result as battle field situation and influence estimation, provides entity and administrative staff use, and object is estimated
Meter includes Obj State estimation and object properties identification.
Preferably, the input of battle field situation is the cognition of object estimation output result and people and determines information, and is utilized
It supports the existing case and priori knowledge in the data and relevant external information, amalgamation database of database, exports situation map,
It is aided with chart and text report.
Preferably, the input of process refining is the fusion results of information fusion application demand and 0 grade~2 grades, and output is to 0
The optimal control instruction of the scheme and fusion resource of the fusion product performance improvement of grade~2 grades, process refining includes to merging
Journey evaluates and optimizes control two parts.
Preferably, the input for recognizing refining is 0 grade~3 grades fusion products, emerging system and is inputted by man-machine interface
The information of the cognitive ability of people is embodied, output is then the emerging system for incorporating the cognitive ability of people, the cognition of 0 grade~3 grades fusions
The cognition judgement and control of auxiliary system state.
Technical effect and advantage of the invention:
The present invention program mainly applies to intelligence manufacture factory, and the information process in control mode is optimized, will
The information sources such as MES, ERP, SCADA are added in information fusion model, refinement information fusion process, merge skill with 5 grades of information
Information source is refined to obtain comprehensively and effectively information by art, instructs equipment more accurately to complete operation, by comparing to historical data
Analysis, optimal control process improve production efficiency and product quality, reduction in the numbers of seconds.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is signal detection process schematic diagram of the invention；
Fig. 3 is object estimation procedure schematic diagram of the invention；
Fig. 4 is data level attribute recognition process schematic diagram of the invention；
Fig. 5 is feature level attribute recognition process schematic diagram of the invention；
Fig. 6 is decision level attribute recognition process schematic diagram of the invention；
Fig. 7 is battle field situation process schematic of the invention；
Fig. 8 is that fusion process of the invention refines schematic diagram；
Fig. 9 is cognition refining process schematic diagram of the invention.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
As shown in Figure 1, a kind of method for controlling robot based on the fusion of multi-source heterogeneous information, comprising the following steps:
S1: acquisition information acquires information data by awareness apparatus and means；
S2: information fusion carries out signal detection to above- mentioned information data, object estimation, battle field situation, influences to estimate and recognize essence
Five fusion ranks are refined, the information fusion between different stage realizes that function supports by information exchange, in Fig. 1, information fusion
It is connected by bus structures, it is sensor signal, control program information, design information, material that the input of information source, which can choose,
The information etc. of information and relevant information system acquisition, and merging output and can choose is that object estimation, battle field situation or influence are estimated
The other information of grades of fusion such as meter, it is not serial connection that 2 grades of fusions are fused to from 0 grade, but is carried out according to demand single one or more
Grade fusion carries out, and process refining and cognition two fusion ranks of refining are to one or more ranks in first four fusion rank
Function optimization, in which:
Signal detection and object estimation are merged for the information of single object, generate the attribute and state estimation of single object；
Battle field situation is merged for the information of multiple objects, generates the relationship between multiple objects；
Process refining and cognition refining embody the assessment to fusion efficiency at different levels, generate the optimal control to fusion process and people
Optimal control based on application demand to cognitive process；
S3: data management, including support database and amalgamation database, support that database mainly includes that fusion process at different levels are related to
Obj State and property parameters association and judge thresholding, and with situation, influence related data, amalgamation database is main
Priori case for storing the access of significant fusion results, as subsequent fusion and assessment；
S4: information fusion results are used for human-computer interaction, decision service and application service by converged services；Human-computer interaction service ginseng
The technological means merged with leading information, the cognition refining of information fusion is main to be carried out by human-computer interaction, such as to administrator
Member's output warning message；Decision service is according to realization fusion application demand, the service that Added Management personnel judge and assess；
Application service indicates that fusion product provides all kinds of services for meeting application demand, including Warning Service and object control service.
Awareness apparatus and means include monitoring sensor, control program, MES, ERP, SCADA relevant information in S1.
As shown in Fig. 2, signal detection (0 grade of fusion), the input of signal detection is the original measurement of multiple sensor acquisitions
Signal, output are the signal datas detected, and signal detection mainly includes space-time uniformity, error compensation, signal association and signal
Fusion:
Space-time uniformity: time unification and spatial alternation are carried out to the source signal of input, time unification is will to input information use
Nonsynchronous clock uniformly arrive under the consistent reference time scale of emerging system, space is uniformly that will input office used by information
Portion's coordinate unification to under the consistent reference coordinate of emerging system；
Error compensation: the signal data measurement error of space-time after reunification is estimated and is compensated；
Signal association: carrying out the association of time and space relationship to the source signal data after error compensation, is formed derived from same
The measuring signal set of object；
Signal fused: to the signal set element of the same target formed after signal association is denoised, complementary and enhancing is handled,
To detect the information of object.
As shown in figure 3, object estimation (1 grade fusion), the input of object estimation be the data of various kinds of sensors, MES, ERP,
SCADA, database data and amalgamation database data are supported, the output of object estimation is Obj State and its Accuracy extimate, with
And object properties and its credibility estimation, input of the output result as battle field situation and influence estimation mention for service
It is used for entity, administrative staff's use can also be supplied directly to, object estimation includes that Obj State estimation and object properties are known
Other:
A) Obj State estimation includes: space-time uniformity, error compensation, data correlation, state estimation, status predication:
Space-time uniformity: time unification and spatial alternation are carried out；
Error compensation: quantization compensation mainly is carried out to time, space, other characteristic measurements；
Data correlation: being associated compensated multi-source data, generates the data acquisition system of same target；
State estimation: extrapolating to the data acquisition system for the same target that data correlation is formed, and the integrated treatments such as filtering, generating should
The current state parameter of object estimates and evaluated error；Status predication: using the state estimation parameter of object, pass through state change
Model prediction unknown state and the precision being likely to be breached；
B) object properties identify: the difference according to input object attribute information rank includes pixel-based fusion, feature-based fusion, sentences
Deciding grade and level fusion, the object properties fusion recognition logic that appropriate level is respectively adopted carry out object properties identification:
As shown in figure 4, pixel-based fusion identifies: when inputting information is sensing data, signal detection data, by it is most according into
Row Registration of Measuring Data (including space-time uniformity and error compensation), reference object state estimation information carry out data correlation, are formed same
The attribute data set of object, merges the data acquisition system, then carries out feature extraction and object to fusion attribute data
Attribute determines identification, forms the fusion attribute specification of the object；
As shown in figure 5, feature-based fusion identifies: when inputting information is the characteristics of objects grade data extracted, carrying out feature and match
Quasi- (including space-time uniformity and characteristic error compensation), reference object state estimation information carries out feature association, obtains derived from same
Then the characteristic set of object merges the characteristics of objects set, finally carry out object properties and determine identification, it is right to form this
The fusion attribute specification of elephant；
As shown in fig. 6, decision level fusion recognition: when inputting information is object part decision level data, determining multiple parts
Grade data are registrated (including space-time uniformity and decision errors compensation), then determine that conclusion is associated to multiple parts, shape
At the judgement set for being derived from same target, the judgement set for finally carrying out same target is merged, and forms the fusion of the object
Attribute specification.
As shown in fig. 7, battle field situation (2 grades of fusions), the input of battle field situation are object estimation output result and people
Cognition and judgement information, and utilize the existing case in the data and relevant external information, amalgamation database for supporting database
And priori knowledge, situation map is exported, chart and text report are aided with, battle field situation includes:
Relationship estimation generates, and is the basis to form situation state, relationship estimation generate between each object referred in scene and
Relationship between object and external key elements；
It observes situation to generate, is the set of object involved in same application demand and element and its relationship, be based on relationship
What estimation generated, present current situation state；
Estimate that situation generates, using data mining or corresponding intellectual technology, extracts situation state from observation situation, generate estimation
Situation, including rotation, straight trip, stopping；
Predictive situation generates, and is based on observation situation and estimation situation, by the variation of main situation element, and referring to history state
Gesture case, the variation of predictive situation element and situation state and the development of possible situation, generate the predictive situation based on effectiveness.
As shown in figure 8, process refining (3 grades of fusions), the input of process refining is information fusion application demand and 0 grade~2
The fusion results of grade, output are referred to the optimal control of the scheme and fusion resource of 0 grade~2 grades of fusion product performance improvement
It enables, process refining includes that control two parts are evaluated and optimized to fusion process.
A) process assessment: process assessment be using fusion application demand as foundation, to the performances of 0 grade~2 grades fusion products and
Efficiency progress and comprehensive assessment further include assessing information source and communication network, the foundation as optimal control.
B) optimal control: optimal control is according to fusion process assessment result, to information source, communication network, 0 grade~2 grades
The software and hardware resources of fusion implement Dynamic Programming, distribute rationally and feedback control, to realize the complex optimum of the process of fusion.It is excellent
Changing the function of controlling includes:
Information source is distributed rationally: being based on application demand and fusion process assessment result, is distributed rationally and control system (position, prison
Viewed area, runing time and operating mode etc.), preferentially to obtain perpetual object information；
Messaging resource dynamic configuration: dynamic controls and 0 grade~2 grades messaging resources of configuration, including software and hardware function, calculation
Method software and decision threshold etc. realize preferentially reaching for fusion application demand；
Communication network control: the communication network of information accesses control, including perception information access network-control and and other systems
Between information exchange network control, to guarantee that the timely and network bandwidth of communication makes full use of；
Data base administration: supporting the access control of database and amalgamation database, reduces redundant data to the greatest extent, improves access speed
Degree；
Process control: based on distributing rationally and control/Managed Solution, dynamic controls software and hardware and net in 0 grade~2 grades fusion process
The operating status of network.
As shown in figure 9, cognition refining (4 grades of fusions), the input for recognizing refining is 0 grade~3 grades fusion products, emerging systems
With the information of the cognitive ability of the embodiment people inputted by man-machine interface, output is then the fusion system for incorporating the cognitive ability of people
System, the cognition judgement and control of the cognition auxiliary system state of 0 grade~3 grades fusions.
A) cognition interaction: cognition interaction is that the cognitive ability of people is inputted to emerging system, and cognitive ability includes that inspiration is thought
Dimension, associative thinking, intuition cognition judgement.
B) cognition auxiliary
People assists the cognition of emerging system
Information value and quality requirement are provided for 0 grade of fusion；
Object handles priority is provided for 1 grade of fusion；
Periphery/external information is provided for 2 grades of fusions；
Fusion process, which is provided, for 3 grades of fusions refines benchmark, including expected utility, risk etc..
C) cognition judgement and control
Understanding and confirmation of the people to fusion products at different levels；
Decision/judgement of people in fusion process；
People is to all kinds of fusion resource distributions, optimal control.
The present invention program mainly applies to intelligence manufacture factory, and the information process in control mode is optimized,
The information sources such as MES, ERP, SCADA are added in information fusion model, refinement information fusion process, are merged with 5 grades of information
Information source is refined to obtain comprehensively and effectively information by technology, instructs equipment more accurately to complete operation, by historical data pair
Than analysis, optimal control process is improved production efficiency and product quality, reduction in the numbers of seconds.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of method for controlling robot based on the fusion of multi-source heterogeneous information, which comprises the following steps:
S1: acquisition information acquires information data by awareness apparatus and means；
S2: information fusion carries out signal detection to above- mentioned information data, object estimation, battle field situation, influences to estimate and recognize essence
Five fusion ranks are refined, the information fusion between different stage realizes function support by information exchange, in which:
Signal detection and object estimation are merged for the information of single object, generate the attribute and state estimation of single object；
Battle field situation is merged for the information of multiple objects, generates the relationship between multiple objects；
Process refining and cognition refining embody the assessment to fusion efficiency at different levels, generate the optimal control to fusion process and people
Optimal control based on application demand to cognitive process；
S3: data management, including support database and amalgamation database, support that database mainly includes that fusion process at different levels are related to
Obj State and property parameters association and judge thresholding, and with situation, influence related data, amalgamation database is main
Priori case for storing the access of significant fusion results, as subsequent fusion and assessment；
S4: information fusion results are used for human-computer interaction, decision service and application service by converged services；Human-computer interaction service ginseng
The technological means merged with leading information, the cognition refining of information fusion is main to be carried out by human-computer interaction, such as to administrator
Member's output warning message；Decision service is according to realization fusion application demand, the service that Added Management personnel judge and assess；
Application service indicates that fusion product provides all kinds of services for meeting application demand, including Warning Service and object control service.
2. a kind of method for controlling robot based on the fusion of multi-source heterogeneous information according to claim 1, it is characterised in that:
Awareness apparatus and means include monitoring sensor, control program, MES, ERP, SCADA relevant information in S1.
3. a kind of method for controlling robot based on the fusion of multi-source heterogeneous information according to claim 1, it is characterised in that:
The input of signal detection is the raw measured signal of multiple sensor acquisitions, and output is the signal data detected, signal detection
It mainly include space-time uniformity, error compensation, signal association and signal fused.
4. a kind of method for controlling robot based on the fusion of multi-source heterogeneous information according to claim 1, it is characterised in that:
The input of object estimation is the data of various kinds of sensors, MES, ERP, SCADA, supports database data and amalgamation database number
According to the output of object estimation is Obj State and its Accuracy extimate and object properties and its credibility estimation, output knot
Fruit is as battle field situation and influences the input estimated, provides entity and administrative staff use, object estimation includes Obj State
Estimation and object properties identification.
5. a kind of method for controlling robot based on the fusion of multi-source heterogeneous information according to claim 1, it is characterised in that:
The input of battle field situation is the cognition of object estimation output result and people and determines information, and utilizes the data for supporting database
With the existing case and priori knowledge in relevant external information, amalgamation database, situation map is exported, chart and text report are aided with
It accuses.
6. a kind of method for controlling robot based on the fusion of multi-source heterogeneous information according to claim 1, it is characterised in that:
The input of process refining is the fusion results of information fusion application demand and 0 grade~2 grades, and output is that the fusion to 0 grade~2 grades produces
The optimal control instruction of moral character energy improved plan and fusion resource, process refining includes that control is evaluated and optimized to fusion process
Two parts.
7. a kind of method for controlling robot based on the fusion of multi-source heterogeneous information according to claim 1, it is characterised in that:
The input of cognition refining is the cognitive ability of 0 grade~3 grades fusion products, emerging system and the embodiment people inputted by man-machine interface
Information, output is then the emerging system for incorporating the cognitive ability of people, and the cognition auxiliary system state of 0 grade~3 grades fusions is recognized
Know judgement and control.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112286901A (en) * | 2019-11-19 | 2021-01-29 | 中建材信息技术股份有限公司 | Database fusion association system |
| CN116352726A (en) * | 2023-05-30 | 2023-06-30 | 成都航空职业技术学院 | Mechanical arm control method and system based on multi-source data collaboration |
| CN117216722A (en) * | 2023-11-09 | 2023-12-12 | 山东农业大学 | Sensor time sequence data-based multi-source heterogeneous data fusion system |
-
2019
- 2019-01-12 CN CN201910028970.5A patent/CN109732603A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112286901A (en) * | 2019-11-19 | 2021-01-29 | 中建材信息技术股份有限公司 | Database fusion association system |
| CN116352726A (en) * | 2023-05-30 | 2023-06-30 | 成都航空职业技术学院 | Mechanical arm control method and system based on multi-source data collaboration |
| CN116352726B (en) * | 2023-05-30 | 2023-08-01 | 成都航空职业技术学院 | Mechanical arm control method and system based on multi-source data collaboration |
| CN117216722A (en) * | 2023-11-09 | 2023-12-12 | 山东农业大学 | Sensor time sequence data-based multi-source heterogeneous data fusion system |
| CN117216722B (en) * | 2023-11-09 | 2024-02-27 | 山东农业大学 | Sensor time sequence data-based multi-source heterogeneous data fusion system |
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Application publication date: 20190510 |